% convert NAO and AMBER's tructure to Human_mean model format
% function convert_robot_para(xmean)
% 
% end
% hip position
% ave_timeHP;
upperBHP = XupperB.upperBHP;
lowerBHP = XlowerB.lowerBHP;
x_meanHP = Xmean.x_meanHP;
%% linearized hip position
% ave_timeHPL;
upperBHPL = XupperB.upperBHPL;
lowerBHPL = XlowerB.lowerBHPL;
x_meanHPL = Xmean.x_meanHPL;
%% non-stance slope
% ave_timeNSslopeL,upperBNSL,lowerBNSL,x_meanNSL
% ave_timeNSslope = ave_timeNSslope;
upperBNSL = XupperB.upperBNSL;
lowerBNSL = XlowerB.lowerBNSL;
x_meanNSL = Xmean.x_meanNSL;
%% linearized non-stance slope
% ave_timeNSslopeL = ave_timeNSslopeL;
upperBLNS = XupperB.upperBLNS;
lowerBLNS = XlowerB.lowerBLNS;
x_meanLNS = Xmean.x_meanLNS;
%% stance COM slope
upperBSCOM = XupperB.upperBSCOM;
lowerBSCOM = XlowerB.lowerBSCOM;
x_meanSCOM = Xmean.x_meanSCOM;
%% linearized stance COM slope
upperBSCOML = XupperB.upperBSCOML;
lowerBSCOML = XlowerB.lowerBSCOML;
x_meanSCOML = Xmean.x_meanSCOML;

% % % %% non-stance torso slope
% % % % ave_timeNST = ave_timeNST;
% % % upperBNST = XupperB.upperBNST;
% % % lowerBNST = XlowerB.lowerBNST;
% % % x_meanNST = Xmean.x_meanNST;
% % % %% linearized non-stance torso slope
% % % % ave_timeNSTL  % FIX ME
% % % upperBNSTL = XupperB.upperBLNST;
% % % lowerBNSTL = XlowerB.lowerBLNST;
% % % x_meanNSTL = Xmean.x_meanLNST;
% % % 
% % % %%  stance torso slope
% % % % ave_timeST
% % % upperBST = XupperB.upperBST;
% % % lowerBST = XlowerB.lowerBST;
% % % x_meanST = Xmean.x_meanST;
% % % 
% % % %% linearized stance torso slope
% % % % ave_timeSTL , % FIX ME
% % % upperBSTL = XupperB.upperBLST;
% % % lowerBSTL = XlowerB.lowerBLST; 
% % % x_meanSTL = Xmean.x_meanLST;
% % % 
% % % %% COM
% % % % ave_timeCOM ,
% % % upperBCOM = XupperB.upperBCOM;
% % % lowerBCOM = XlowerB.lowerBCOM;
% % % x_meanCOM = Xmean.x_meanCOM;
% % % 
% % % %% linearized COM
% % % % ave_timeCOML,
% % % upperBCOML = XupperB.upperBLCOM;
% % % lowerBCOML = XlowerB.lowerBLCOM;
% % % x_meanCOML = Xmean.x_meanLCOM;